// Scan.h // Debug Info #define DEBUG // comment this out to turn off diagnostics #ifdef DEBUG #define DBG(X) X // template: DBG( PinSet(1); ) or DBG( cprintf("!"); ) #else #define DBG(X) // nothing #endif #include // Persistor CF1 System and I/O Definitions #include // Persistor CF1 PicoDOS Definitions #include // CF1 POSIX-like File Status Definitions #include // CF1 POSIX-like File Access Definitions #include // CF1 POSIX-like UNIX Function Definitions #include // CF1 POSIX-like Directory Access Definitions #include // CF1 POSIX-like Terminal I/O Definitions #include // CF1 DOS Drive and Directory Definitions #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include // QPB Slots #define MAX146_SLOT 8 #define U7_SLOT 9 #define COM2_SLOT 10 #define COM3_SLOT 11 #define U1_SLOT 12 #define U5_SLOT 13 #define U14_SLOT 14 // Misc. Definitions #define LPMODE FullStop // choose: FullStop or FastStop or CPUStop // Motor Definitions #define ON 1 #define OFF 0 #define X 1 #define Y 2 #define Z 3 #define F 4 #define STOP 0 #define FWD 1 #define BKWD 2 #define TEST_STEPS 80 // About 10 cm #define UP 1 #define DOWN 2 #define MAX_X_STEPS 1000 #define MAX_Y_STEPS 2800 #define MAX_Z_STEPS 1000 #define X_STEPS_PER_MM 200 #define Y_STEPS_PER_MM 8 // Actually 7.87 #define Z_STEPS_PER_MM 1 // MAX146 Definitions #define AD0 0 #define AD1 1 #define AD2 2 #define AD3 3 #define AD4 4 #define AD5 5 #define AD6 6 #define BATTERY_CAL 1192 // 32768/2.5/11 #define BACKUP_BAT_CAL 4935 // 32768/2.5/2.656 #define DEPTH_CAL 13107 // 32768/2.5/1.0 // U1 Definitions #define ALL_U1_PINS 0xFF #define OPTODE_ON 0x01 #define FLOOD_ON 0x02 #define VIDEO_ON 0x04 #define GRAB_MOT_ON 0x08 #define GRAB_UP 0x10 #define GRAB_DOWN 0x20 // U5 Definitions #define ALL_U5_PINS 0xFF #define BURN_1 0x01 #define BURN_2 0x02 #define BURN_3 0x04 #define BURN_4 0x08 #define BURN_5 0x10 #define BURN_6 0x20 #define ISO_PWR_ON 0x40 #define STIR_5V_ON 0x80 // U7 Definitions #define ALL_U7_PINS 0xFF #define COM2_ON 0x01 #define COM3_ON 0x02 #define TRANS_ON 0x04 #define SENSORS_ON 0x08 #define O2_ON 0x10 #define PHOTOMULT_ON 0x20 #define PRESS_ON 0x40 // U14 Definitions #define ALL_U14_PINS 0xFF #define X_MOTOR_ON 0x01 #define Y_MOTOR_ON 0x02 #define Z_MOTOR_ON 0x04 #define DIR 0x08 #define STEP_PWR_ON 0x10 // Photomultiplier Definitions #define FILTER1 0 // Steps from index #define FILTER2 45 #define FILTER3 90 #define FILTER4 135 // Transceiver Definitions #define MAX_SAMPLES 4000 #define MAX_SAMPLE_TIME 150 // Microseconds #define SAMPLES_PER_MM 27 // At 20MHz sample rate #define ACOUSTIC 1 #define OPTIC 2 // Video Camera Definitions #define VIDEO_START 1 #define VIDEO_STOP 0 // External Variables extern int g_grab_turns; // Structures struct def{ ushort stir_speed; time_t start_time; time_t end_time; ushort samples; ushort start_bin; ushort end_bin; ushort bin_length; ushort x_scan_len; ushort y_scan_len; ushort cell_size; ushort camera_start_depth; ushort camera_on_time; ushort delay_time; }; //Function Prototypes void test_func(void); void deploy(void); void setup(void); void init(void); float battery(void); float backup_bat(void); void COM2Init(void); int COM2ByteAvail(void); void COM2Flush(void); int COM2GetChar(void); bool COM2PutChar(ushort c); int COM3ByteAvail(void); void COM3Init(void); void COM3Flush(void); int COM3GetChar(void); bool COM3PutChar(ushort c); void delay_secs(int secs); float depth(void); int filter_motor(int position); short getchlp(void); void grab_motor(int dir); void Irq4RxISR(void); short Max146Sample(ushort chan, bool uni, bool sgl, bool pd); void ping_cycle(ushort *buffer); int scan_cycle(int type, ushort *buffer); void scan_motor(int motor, int dir, int steps); void stir_motor(ushort speed, int on_off); void test_scan_motor(int motor); void U1_control(ushort device, char on_off); void U5_control(ushort device, char on_off); void U7_control(ushort device, char on_off); void U14_control(ushort device, char on_off); void video(short function); void video_send_packet(unsigned char *packet); IEV_C_PROTO(COM2Interrupt); IEV_C_PROTO(grab_turns_interrupt); // Macros #define burnwire(wire, on_off) U5_control(wire, !on_off) #define com2_on() U7_control(COM2_ON, ON) #define com2_off() U7_control(COM2_ON, OFF) #define dir_on() U14_control(DIR, ON) #define dir_off() U14_control(DIR, OFF) #define flood_on() U1_control(FLOOD_ON, ON) #define flood_off() U1_control(FLOOD_ON, OFF) #define iso_pwr_on() U5_control(ISO_PWR_ON, ON) #define iso_pwr_off() U5_control(ISO_PWR_ON, OFF) #define optode_on() U1_control(OPTODE_ON, ON) #define optode_off() U1_control(OPTODE_ON, OFF) #define o2_pwr_on() U7_control(O2_ON, ON) #define o2_pwr_off() U7_control(O2_ON, OFF) #define photomult_pwr_on() U7_control(PHOTOMULT_ON, ON) #define photomult_pwr_off() U7_control(PHOTOMULT_ON, OFF) #define press_pwr_on() U7_control(PRESS_ON, ON) #define press_pwr_off() U7_control(PRESS_ON, OFF) #define sensor_pwr_on() U7_control(SENSORS_ON, ON) #define sensor_pwr_off() U7_control(SENSORS_ON, OFF) #define step_pwr_on() U14_control(STEP_PWR_ON, ON) #define step_pwr_off() U14_control(STEP_PWR_ON, OFF) #define stir_5V_on() U5_control(STIR_5V_ON, ON) #define stir_5V_off() U5_control(STIR_5V_ON, OFF) #define trans_pwr_on() U7_control(TRANS_ON, ON) #define trans_pwr_off() U7_control(TRANS_ON, OFF) #define video_pwr_on() U1_control(VIDEO_ON, ON) #define video_pwr_off() U1_control(VIDEO_ON, OFF) #define x_motor_on() U14_control(X_MOTOR_ON, ON) #define x_motor_off() U14_control(X_MOTOR_ON, OFF) #define y_motor_on() U14_control(Y_MOTOR_ON, ON) #define y_motor_off() U14_control(Y_MOTOR_ON, OFF) #define z_motor_on() U14_control(Z_MOTOR_ON, ON) #define z_motor_off() U14_control(Z_MOTOR_ON, OFF) #define grab_limit() !PinRead(29) #define footpad() !PinRead(27) #define filter_index() !PinRead(26) #define x_limit() !PinRead(30) #define y_limit() !PinRead(28) #define z_limit() !PinRead(31) #define ping_on() PinWrite(25, 1) #define ping_off() PinWrite(25, 0) #define clear_fifo_on() PinWrite(22, 1) #define clear_fifo_off() PinWrite(22, 0) #define read_fifo_on() PinWrite(23, 1) #define read_fifo_off() PinWrite(23, 0)